대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제26권1호
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  • Pages.67-73
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  • 2002
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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주파수와 감쇠비 변화에 강인한 Convolution 입력성형기 설계

Design of Robust Convolution Input Shaper for the Variation of Frequency and Damping Ratio

  • 발행 : 2002.01.01
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초록

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers have been considered robustness fur only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness fur the variation of frequency and damping ratio.

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참고문헌

  1. Tallman, G. H. and Smith, O. J. M., 1958, 'Analog Study of Dead-Beat Posicast Control,' Transactions on Automatic Control. Proceeding of IRE, Vol. AC-3, pp. 14-23 https://doi.org/10.1109/TAC.1958.1104844
  2. Singer, N. C. and Seering, W. P., 1990, 'Preshaping Command Inputs to Reduce System Vibration,' Transactions of the ASME, Journal of Dynamic Systems. Measurement and Control, Vo. 112, pp. 76-82 https://doi.org/10.1115/1.2894142
  3. Teo, C. L.,Ong, C. J., and Xu, M., 1998, 'Pulse Input sequences for Residual Vibration Reduction,' Journal of Sound and Vibration, vol. 211(2), pp. 157-177 https://doi.org/10.1006/jsvi.1997.1360
  4. Singhose, W. E. and Singer, N. C., 1996, 'Extra-Insensitivity Input Shapers for Controlling Flexible Spacecraft,' Journal of Guidance, Control, and Dynamics, Vol. 19, No. 2
  5. Porter, L. J., Singhose, W. E., Tuttle, T. D. and Singer, N. C., 1997, 'Vibration Reduction Using Multi-Hump Input Shapers,' Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, Vol. 119, pp. 320-326 https://doi.org/10.1115/1.2801257
  6. Singhose, W. E.,Seering, W. P. and Singer, N. C., 1997, 'Time-Optimal Negative Input Shapers,' Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, Vol. 119, pp. 198-205 https://doi.org/10.1115/1.2801233
  7. 박운환, 이재원, 임병덕, 주해호, 1999, 'Z-영역에서 강인한 입력성형필터의 설계,' 한국정밀공학회지, 제16권, 제4호, pp. 155-162
  8. 박운환, 이재원, 임병덕, 2000, 'Z-영역에서 입력성형기의 설계와 민감도 해석,' 대한기계학회 논문집 A권, 제24권, 제7호, pp. 1854-1862